import launch
import launch_ros

def generate_launch_description():
    action_node_turtle_control=launch_ros.actions.Node(package='demo_cpp_service',executable='turtle_control',output='screen')
    action_node_patrol_client=launch_ros.actions.Node(package='demo_cpp_service',executable='patrol_client',output='log')
    action_node_trutlesim_node=launch_ros.actions.Node(package='turtlesim',executable='turtlesim_node',output='both')

    launch_description = launch.LaunchDescription([
        action_node_turtle_control,
        action_node_patrol_client,
        action_node_trutlesim_node
    ])

    return launch_description